In order to solve the serious resonance problem of electrostatic hydraulic actuator(EHAs), a parameter identification method for twomass nonlinear resonance system was proposed.By analyzing the twomass nonlinear resonance system, the structure and the relationship between the input torque and the rotation angle were clarified.The model of EHAs was studied and the relationship between displacement volume ratio of the hydraulic motor and oil pump was determined.The selfresonance control method was designed by using feedback modulator and selfresonance cancellation (SRC) strategy, and the selfresonance cancellation function was realized. The experimental results show that in the process of tracking the target position, the maximum overshoot of the proposed method is only 3 rad, which is 8 rad less than that of the PID method.It is shown that the design method can be used to compensate the effect of friction and to suppress the selfresonance better, and to track the target position in EHAs smoothly and accurately.